LEGO MINDSTORMS - Robotics Invention System-2 Projects part 11 pot

Robot • The ULK (Useful LEGO Knowledge) Wiring Instructions Wiring the Arm Motor Wiring the Drive Motor The motor for the Arm is attached to Output Port C Route the 13-cm wire (the short ones) between the worm gear and RCX mounting plates, and around the bottom of the RCX The drive motor is attached to Output Port A Use a 13-cm connector wire 236 Robot • The ULK (Useful LEGO Knowledge) Wiring the Light Sensor The light sensor is attached to Input Port The wire attached to the sensor is too short to reach the RCX, so I used a 13-cm wire as an extension cord Route the light sensor wire over the touch sensor, and snap the connector to the bottom of the light sensor Attach the extension wire to the bottom of the light sensor connector, and route it around the arm motor mount, behind the 12L vertical cross brace beam, and around the side of the RCX 237 Robot • The ULK (Useful LEGO Knowledge) Wiring the Limit Switch Use a 13-cm wire to attach the touch sensor to Input Port Route the wire under the touch sensor support liftarms, around the arm motor mount, behind the 12L vertical cross brace beam, and around the side of the RCX 238 Robot The SpinnerBot 239 Robot • The SpinnerBot As a designer, you’ll always be striving to squeeze a few more features into your robot without using any more RCX outputs Using only two motors, the SpinnerBot allows you to experiment with driving, grabbing, lifting, and replacing objects This robot gets its name from the fact that it spends a lot of time spinning: In order to navigate, it either moves forward or turns to the left Nevertheless, the SpinnerBot can get wherever it needs to go using these two abilities, and when it gets there, it can grab and lift objects using the gripper arm powered by the second motor The SpinnerBot uses touch sensors to detect the flags it collects, and it uses a light sensor in order to stay within the bounds of the dark oval on the Test Pad (the Test Pad is the large printed sheet that came with your RIS 2.0 kit) Using the language NQC (Not Quite C), I have written a Capture-the-Flag program for the robot, which hunts around the confines of the Test Pad for a specially designed flag When the robot encounters a flag, it captures it using the grabbers, and lifts it off the ground using the lift arm As a further challenge, you might try setting up your own arena with a dark border and a medium-shaded “home” area You could then program SpinnerBot to search for flags outside its home, retrieve them, and deposit them in its nest You can find the Capture-the-Flag program on the Syngress Solutions Web site (www.syngress.com/solutions) 240 Robot • The SpinnerBot The Left Side Frame The Left Side Frame sub-assembly will hold the left drive wheel in the finished robot, and provides structural rigidity to the frame Left Side Frame Step Slide the axle through the center hole of the 1x16 TECHNIC beam 241 Robot • The SpinnerBot Left Side Frame Step Left Side Frame Step Set the Left Side Frame subassembly aside You will need it when you get to Final Step 10 242 Robot • The SpinnerBot The Right Side Frame The Right Side Frame sub-assembly is the complement to the Left Side Frame sub-assembly, but uses a different gear The right wheel will be able to move forward, but not backward Right Side Frame Step 243 Robot • The SpinnerBot Right Side Frame Step Right Side Frame Step Set the Right Side Frame sub-assembly aside You will need it when you get to Final Step 10 244 Robot • The SpinnerBot The Outer RCX Bracket The Outer RCX Bracket sub-assembly uses the light gray pins to attach it to the frame These pins come apart much more easily than the black pins with friction, and allow you to easily remove the RCX Outer Bracket Step Set the Outer RCX Bracket aside You will need it when you get to Final Step 12 The Inner RCX Bracket The Inner RCX Bracket sub-assembly and the Outer RCX Bracket sub-assembly will be used later to securely hold the RCX within the body of the robot Inner RCX Bracket Step Insert the three-quarter length pins here by the two left-side arrows Set the Inner RCX Bracket aside You will need it when you get to Final Step Insert half-length pin here by the right-side arrow 245 Robot • The SpinnerBot The Driving Mechanism The Driving Mechanism sub-assembly will provide power to the wheels of the SpinnerBot It uses a worm gear to give a powerful 24:1 speed reduction Drive Step Drive Step Set the motor off to the side You will need this part when you get to Drive Step 10 246 Robot • The SpinnerBot Drive Step Drive Step Hang the 1x4 TECHNIC beam from the drive axle Drive Step Drive Step The black TECHNIC pin used in this step is normally used to attach decorative claws to your robots However, it turns out that LEGO electrical wires fit tightly between the exposed prongs of this piece You’re going to use it later on to secure the wire from the light sensor 247 Robot • The SpinnerBot Drive Step Drive Step 248 Robot • The SpinnerBot Drive Step Flip the Drive Mechanism subassembly over to attach the plates to the underside Drive Step 249 Robot • The SpinnerBot Drive Step 10 Locate and attach the assembly created in Drive Step Set the Driving Mechanism sub-assembly off to the side You will need this part when you get to Final Step 14 The Lower Arm Drive You will assemble the drive mechanism for the lifting arm in two stages This is the lower half of the mechanism, which will give a 24:1 speed reduction in order to prevent the flags from being tossed into the air It will also serve as an armrest for the lifting arm Lower Arm Drive Step Begin by assembling the drive shaft 250 Robot • The SpinnerBot Lower Arm Drive Step Lower Arm Drive Step Lower Arm Drive Step Slip a blue rubber band over the pulley piece You will attach it to the arm motor later, in Final Step 16 Place this part off to the side You will need it later on in Lower Arm Drive Step 251 Robot • The SpinnerBot Lower Arm Drive Step Lower Arm Drive Step This axle connector is used as a ratchet to prevent the right wheel from rotating backward Lower Arm Drive Step Locate the parts built in Lower Arm Drive Step and Lower Arm Drive Step 252 Robot • The SpinnerBot Lower Arm Drive Step Lower Arm Drive Step The smooth-topped plate is the lower half of a hinge; pull apart the hinge, as you will only be using the lower half The lifting arm will rest on the smooth surface 253 Robot • The SpinnerBot Lower Arm Drive Step Lower Arm Drive Step 10 254 Robot • The SpinnerBot Attach the yellow, sloped brick by sliding it over the fingers of the black hinge plate and securing it with the yellow 1x3 plate This sloped brick serves as a rest for the lifting arm Lower Arm Drive Step 11 Lower Arm Drive Step 12 Flip over the Lower Arm Drive subassembly to attach plates to the underside Set this sub-assembly off to the side You will use this piece in Final Step 15 255 Robot • The SpinnerBot The Arm Drive This is the upper half of the power train for the lifting arm of the SpinnerBot The motor here will drive a pulley belt to the Lower Arm Drive sub-assembly The size of the pulley on the motor is larger, giving about a 3:1 speed increase, which will be offset by the worm gear in the Lower Arm Drive sub-assembly Arm Drive Step Connect the pieces to the motor as shown Place this assembly off to the side You will need this in Arm Drive Step 256 Robot • The SpinnerBot Arm Drive Step The black TECHNIC pin in this step is identical to the one used earlier in Drive Step You will use it later to secure the wire from the touch sensors to the side of the robot Arm Drive Step Arm Drive Step 257 Robot • The SpinnerBot Arm Drive Step Arm Drive Step Arm Drive Step Locate the motor built in Arm Drive Step 0, and place it in the motor holder you created using the two TECHNIC bricks 258 Robot • The SpinnerBot Arm Drive Step Place the 1x6 plate behind the motor to prevent it from sliding out of its holder Arm Drive Step Secure the black 1x7 TECHNIC halfbeam to the two three-quarter length pins When you assemble the entire robot, this will line up with two more three-quarter length pins, providing a secure reinforcement to the model Slide the Arm Drive sub-assembly off to the side; you’ll need it in Final Step 16 The Left Gripper Now you will start to assemble the business end of the lifting arm The Left Gripper moves in concert with the Right Gripper to grab a flag 259 Robot • The SpinnerBot Left Gripper Step Left Gripper Step Leave a small gap between the half-bushing and the axle joiner The half-bushing will prevent the gripper shaft from rattling up and down once the gripper is complete Left Gripper Step The 2x2 round plates add a touch of color, and also serve the function of preventing the flag from slipping off the end of the grippers Set the Left Gripper subassembly aside; you will need it in Spinner Arms Step 260 ... border and a medium-shaded “home” area You could then program SpinnerBot to search for flags outside its home, retrieve them, and deposit them in its nest You can find the Capture-the-Flag program... RCX Bracket sub-assembly and the Outer RCX Bracket sub-assembly will be used later to securely hold the RCX within the body of the robot Inner RCX Bracket Step Insert the three-quarter length... length pins here by the two left-side arrows Set the Inner RCX Bracket aside You will need it when you get to Final Step Insert half-length pin here by the right-side arrow 245 Robot • The SpinnerBot